Pumping control method, device, system and pumping vehicle

Abstract

The present invention provides a pumping control method, device, system and pumping vehicle. The method includes: obtaining the actual engine speed of the pumping vehicle at the current moment; if the actual engine speed meets a preset adjustment condition, determining the set engine speed of the pumping vehicle at the next moment based on the set engine speed at the current moment and the engine speed limit range of the pumping vehicle; controlling the pumping vehicle based on the set engine speed of the pumping vehicle at the next moment; the preset adjustment condition includes a first preset adjustment condition; the first preset adjustment condition is that the difference between the actual engine speed and the set engine speed is greater than a first speed difference. The method, device and system provided by the present invention effectively avoid the situation that the engine of the pumping vehicle drops in speed or even stalls, and improve the stability of the output of the pumping vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and in particular to a pumping control method, device, system and pumping vehicle. Background Art

[0002] A concrete pump truck is a machine that continuously transports concrete along a pipeline using pressure. The concrete pump truck is modified from a truck chassis, and it is equipped with a motion and power transmission device, a pumping and mixing device, a placing boom device, and some other auxiliary devices on the chassis. The power of the concrete pump truck transmits the power of the engine to the hydraulic pump group or the rear axle through a power take-off box, and the hydraulic pump pushes the piston to drive the concrete to work. Then, the concrete is transported to a certain height and distance using the placing boom and the delivery pipe on the pump truck.

[0003] During the pumping process of the existing concrete pump truck, once the load suddenly increases, it is easy to cause the engine speed to drop, with large speed fluctuations, and even flameout, seriously affecting the construction progress and the service life of the pump truck. Summary of the Invention

[0004] The present invention provides a pumping control method, device, system and pumping vehicle to solve the technical problem that the engine of the pump truck is prone to speed drop and large speed fluctuations when the load changes in the prior art.

[0005] The present invention provides a pumping control method, including:

[0006] Obtain the actual engine speed of the pumping vehicle at the current moment;

[0007] If the actual engine speed meets a preset adjustment condition, then based on the set engine speed at the current moment and the engine speed limit range of the pumping vehicle, determine the set engine speed of the pumping vehicle at the next moment;

[0008] Control the pumping vehicle based on the set engine speed of the pumping vehicle at the next moment;

[0009] Wherein, the preset adjustment condition includes a first preset adjustment condition; the first preset adjustment condition is that the difference between the actual engine speed and the set engine speed is greater than a first speed difference.

[0010] According to the pumping control method provided by the present invention, the actual engine speed at the current moment is less than the set engine speed at the current moment.

[0011] According to the pumping control method provided by the present invention, the preset adjustment condition further includes a second preset adjustment condition;

[0012] The second preset adjustment condition is that if the current moment is the last moment of the current working cycle, the actual engine speeds at all moments within the current working cycle do not satisfy the first preset adjustment condition, and the difference between the actual engine speeds at all moments within the current working cycle and the set engine speed is less than the second speed difference.

[0013] According to the pumping control method provided by the present invention, the first speed difference or the second speed difference is determined based on the actual engine speed of the pumping vehicle.

[0014] According to the pumping control method provided by the present invention, if the actual engine speed satisfies the preset adjustment condition, then based on the set engine speed at the current moment and the engine speed limit range of the pumping vehicle, determining the set engine speed of the pumping vehicle at the next moment includes:

[0015] When the actual engine speed satisfies the first preset adjustment condition, if the set engine speed at the current moment has not reached the upper limit value of the engine speed limit range, then based on the set engine speed at the current moment and the engine speed adjustment value, determining the set engine speed of the pumping vehicle at the next moment.

[0016] According to the pumping control method provided by the present invention, if the actual engine speed satisfies the preset adjustment condition, then based on the set engine speed at the current moment and the engine speed limit range of the pumping vehicle, determining the set engine speed of the pumping vehicle at the next moment includes:

[0017] When the actual engine speed satisfies the second preset adjustment condition, if the set engine speed at the current moment has not reached the lower limit value of the engine speed limit range, then based on the set engine speed at the current moment and the engine speed adjustment value, determining the set engine speed of the pumping vehicle at the next moment.

[0018] According to the pumping control method provided by the present invention, the engine speed adjustment value is determined based on the difference between the actual engine speed and the set engine speed at the current moment.

[0019] According to the pumping control method provided by the present invention, controlling the pumping vehicle based on the set engine speed of the pumping vehicle at the next moment includes:

[0020] Based on the set engine speed of the pumping vehicle at the next moment and the set pumping flow rate of the pumping vehicle at the next moment, determining the main oil pump proportional valve current of the pumping vehicle at the next moment;

[0021] Control the pumping vehicle based on the engine set speed and the main oil pump proportional valve current of the pumping vehicle at the next moment.

[0022] According to the pumping control method provided by the present invention, obtaining the actual engine speed of the pumping vehicle at the current moment, and then including:

[0023] If the actual engine speed does not meet the first preset adjustment condition and does not meet the second preset adjustment condition, then use the engine set speed at the current moment as the engine set speed of the pumping vehicle at the next moment.

[0024] The present invention also provides a pumping control device, including:

[0025] An acquisition unit for acquiring the actual engine speed of the pumping vehicle at the current moment;

[0026] A determination unit for, if the actual engine speed meets the preset adjustment condition, determining the engine set speed of the pumping vehicle at the next moment based on the engine set speed at the current moment and the engine speed limit range of the pumping vehicle;

[0027] A control unit for controlling the pumping vehicle based on the engine set speed of the pumping vehicle at the next moment;

[0028] Wherein, the preset adjustment condition includes a first preset adjustment condition; the first preset adjustment condition is that the difference between the actual engine speed and the engine set speed is greater than the first speed difference.

[0029] The present invention also provides a pumping control device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the steps of the pumping control method are implemented.

[0030] The present invention also provides a pumping control system, including the pumping control device;

[0031] A speed sensor, electrically connected to the pumping control device, for detecting the actual engine speed.

[0032] The present invention also provides a pumping vehicle, including the pumping control system, or including the pumping control device.

[0033] The pumping control method, device, system and pumping vehicle provided by the present invention obtain the actual engine speed of the pumping vehicle at the current moment; if the actual engine speed meets the preset adjustment condition, then determine the set engine speed of the pumping vehicle at the next moment according to the set engine speed at the current moment and the engine speed limit range of the pumping vehicle; and then control the pumping vehicle. By using the method of speed feedback and control, it can more clearly and intuitively reflect the working condition of the engine, effectively avoid the situation of engine speed drop or even flameout of the pumping vehicle, and improve the stability of the output of the pumping vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 It is one of the flow charts of the pumping control method provided by the present invention;

[0036] Figure 2 It is another flow chart of the pumping control method provided by the present invention;

[0037] Figure 3 It is one of the structural diagrams of the pumping control device provided by the present invention;

[0038] Figure 4 It is another structural diagram of the pumping control device provided by the present invention;

[0039] Figure 5 It is the structural diagram of the pumping control system provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] In order to make the objectives, technical solutions and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the drawings in the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0041] Figure 1 It is one of the flow charts of the pumping control method provided by the present invention, as Figure 1 shown, the method includes:

[0042] Step 110, obtain the actual engine speed of the pumping vehicle at the current moment.

[0043] Specifically, pumping refers to transporting substances such as concrete using a high-pressure pump. A pumping vehicle includes a delivery pipe, a hydraulic system, a main oil pump, an engine, etc. Generally, a pumping vehicle includes an engine and a main oil pump. The engine drives the main oil pump, which drives the hydraulic oil in the hydraulic system to do external work, pushing devices such as pistons to move, thereby transporting substances such as concrete out.

[0044] The pumping vehicle transports concrete according to a working cycle. For example, if the pumping vehicle uses a piston type and includes two pistons on the left and right, the two pistons respectively perform forward and backward cyclic motions, and a process of alternately transporting concrete can be determined as a working cycle. During this working cycle, the pumping vehicle as a whole completes one external work.

[0045] The actual engine speed is the actual value of the engine speed collected. The set engine speed is the target value of the engine speed preset in advance.

[0046] Step 120, if the actual engine speed meets the preset adjustment condition, then based on the set engine speed at the current moment and the engine speed limit range of the pumping vehicle, determine the set engine speed of the pumping vehicle at the next moment. Among them, the preset adjustment condition includes the first preset adjustment condition; the first preset adjustment condition is that the difference between the actual engine speed and the set engine speed is greater than the first speed difference.

[0047] Specifically, by collecting the engine speed at each moment, the actual engine speed at each moment can be obtained. Comparing the difference between the actual engine speed at each moment and the set engine speed within this working cycle, the engine speed difference at each moment can be obtained.

[0048] The preset adjustment condition is used to measure the change situation of the actual engine speed. For example, the preset adjustment condition can be that the engine speed difference exceeds the fluctuation range of the engine speed during normal operation, etc. Multiple preset adjustment conditions can be set as needed. Among them, the first preset adjustment condition is that the difference between the actual engine speed and the set engine speed is greater than the first speed difference.

[0049] The first preset adjustment condition is used for the situation where the engine output power does not match the pumping load, such as the situation where the engine output power is less than the pumping load, or the situation where the actual engine speed fluctuates greatly during commutation. A first speed difference can be preset. When it is detected that the engine speed difference at the current moment is greater than the first speed difference, it indicates that the gap between the actual engine speed and the set engine speed is large, and it can be considered that the engine has a speed drop phenomenon. At this time, the output power of the engine is small and cannot meet the requirements of the pumping load, so the engine speed needs to be adjusted. If not adjusted in time, it is very likely that the engine speed will fluctuate greatly, experience speed drop, or even stall, resulting in unstable operation and pressure buildup of the entire pumping vehicle, seriously affecting the service life and construction progress of the pumping vehicle.

[0050] At this time, within the engine speed limit range of the pumping vehicle, the set engine speed of the pumping vehicle at the next moment can be determined according to the set engine speed at the current moment. For example, if the first preset adjustment condition is that the engine speed difference is greater than 80 revolutions per minute. The set engine speed at the current moment is 1500 revolutions per minute, and the actually collected engine actual speed is 1400 revolutions per minute. At this time, the corresponding situation may be that the output power of the engine cannot meet the needs of the pumping load, so the engine speed difference is 100 revolutions per minute, meeting the preset adjustment condition. At this time, within the engine speed limit range [1000 revolutions per minute, 1800 revolutions per minute], 20 revolutions per minute can be increased on the basis of the set engine speed at the current moment, and the increased 1520 revolutions per minute is used as the set engine speed of the pumping vehicle at the next moment.

[0051] The initial value of the set engine speed can be set as the target speed that can meet the requirements of the pumping load. After that, when the pumping load changes, the initial value of the set engine speed is updated in the direction of meeting the requirements of the pumping load.

[0052] Step 130, control the pumping vehicle based on the set engine speed of the pumping vehicle at the next moment.

[0053] Specifically, the set engine speed of the pumping vehicle at the next moment can be used as the target value to control the engine in the pumping vehicle. For example, taking 1520 revolutions per minute as the set engine speed of the pumping vehicle at the next moment, at the next moment, the actual engine speed of the pumping vehicle will approach 1520 revolutions per minute, thereby increasing the output power of the engine, reducing the power gap with the pumping load, and avoiding the situation of engine speed drop or even stall.

[0054] The pumping control method provided by the embodiment of the present invention obtains the actual engine speed of the pumping vehicle at the current moment; if the actual engine speed meets the preset adjustment condition, then according to the set engine speed at the current moment and the engine speed limit range of the pumping vehicle, determine the set engine speed of the pumping vehicle at the next moment; and then control the pumping vehicle. By using the method of speed feedback and control, it can more clearly and intuitively reflect the working condition of the engine, effectively avoid the situation that the engine of the pumping vehicle drops speed or even stalls, and improve the stability of the output of the pumping vehicle.

[0055] Based on the above embodiment, the actual engine speed at the current moment is less than the set engine speed at the current moment.

[0056] Specifically, when the pumping vehicle is working at a non-reversing moment, it is possible that the pumping load suddenly increases. At this time, the engine output power is less than the pumping load, resulting in the actual engine speed at the current moment being less than the set engine speed at the current moment.

[0057] Based on any of the above embodiments, the preset adjustment condition further includes a second preset adjustment condition; the second preset adjustment condition is that if the current moment is the last moment of the current working cycle, the actual engine speeds at all moments within the current working cycle do not meet the first preset adjustment condition, and the difference between the actual engine speeds at all moments within the current working cycle and the set engine speed is less than the second speed difference.

[0058] Specifically, the second preset adjustment condition is used for the situation where the engine output power is greater than the pumping load. The second speed difference can be preset in advance. When the difference between the actual engine speeds at all moments within the current working cycle and the set engine speed is less than the second speed difference, it indicates that within the current working cycle, the gap between the actual engine speed and the set engine speed is small and relatively stable, and it can be considered that the engine does not have a speed drop phenomenon. At this time, the output power of the engine has a surplus, and the pumping load is relatively stable.

[0059] Generally, the higher the actual speed of the engine, the greater the output power of the engine. The first speed difference is greater than the second speed difference. The first speed difference is used to measure the fluctuation of the actual engine speed at the current moment, and the second speed difference is used to measure the fluctuation of the actual engine speeds at all moments within a working cycle.

[0060] Based on any of the above embodiments, the first speed difference or the second speed difference is determined based on the actual engine speed of the pumping vehicle.

[0061] Specifically, the first rotational speed difference and the second rotational speed difference can also vary according to the change in the actual engine speed, such that the engine speed drop judgment intervals allowed at different speeds are different, thereby improving the accuracy of engine speed drop judgment. For example, if the actual engine speed is relatively high, correspondingly, the values of the first rotational speed difference and the second rotational speed difference should also be relatively high; if the actual engine speed is relatively low, correspondingly, the values of the first rotational speed difference and the second rotational speed difference should also be relatively low.

[0062] Based on any of the above embodiments, step 120 includes:

[0063] When the actual engine speed meets the first preset adjustment condition, if the engine set speed at the current moment has not reached the upper limit of the engine speed limit range, then based on the engine set speed at the current moment and the engine speed adjustment value, determine the engine set speed of the pumping vehicle at the next moment.

[0064] Specifically, when the engine speed difference meets the first preset adjustment condition, it indicates that the engine output power may be less than the pumping load. At this time, the engine output power can be increased by increasing the engine speed.

[0065] If the engine set speed at the current moment has not reached the upper limit of the engine speed limit range, it indicates that there is still room for the engine speed to increase. Then, an engine speed adjustment value can be added to the engine set speed at the current moment, and the engine speed value after adding the adjustment value is used as the engine set speed of the pumping vehicle at the next moment.

[0066] For example, the engine set speed at the current moment is 1500 revolutions per minute, which has not reached the upper limit of the engine speed limit range [1000 revolutions per minute, 1800 revolutions per minute]. The maximum value of the actually collected engine actual speed is 1400 revolutions per minute. Then, the maximum value of the engine speed difference is 100 revolutions per minute, which is greater than the first rotational speed difference of 80 revolutions per minute and meets the first preset adjustment condition. At this time, the engine speed adjustment value is 20 revolutions per minute. An engine speed adjustment value is added to the engine set speed at the current moment, and 1520 revolutions per minute is used as the engine set speed of the pumping vehicle at the next moment.

[0067] If the engine set speed at the current moment has reached the upper limit of the engine speed limit range, it indicates that there is no room for the engine speed to increase. The upper limit of the engine speed limit range can be used as the engine set speed of the pumping vehicle at the next moment.

[0068] For example, the set engine speed at the current moment is 1800 revolutions per minute, which has reached the upper limit value of the engine speed limit range [1000 revolutions per minute, 1800 revolutions per minute]. The maximum value of the actual engine speed collected is 1700 revolutions per minute. Then the maximum engine speed difference is 100 revolutions per minute, meeting the first preset adjustment condition. At this time, to protect the engine and avoid excessive wear, etc., the set engine speed is not increased any further.

[0069] The pumping control method provided by the embodiment of the present invention solves the technical problem of engine stalling due to speed drop when the pumping load is large by setting the first preset adjustment condition.

[0070] Based on any of the above embodiments, step 120 includes:

[0071] When the actual engine speed meets the second preset adjustment condition, if the set engine speed at the current moment has not reached the lower limit value of the engine speed limit range, then based on the set engine speed at the current moment and the engine speed adjustment value, determine the set engine speed of the pumping vehicle at the next moment.

[0072] Specifically, when the engine speed difference meets the second preset adjustment condition, it indicates that the engine output power is greater than the pumping load, and there is a phenomenon of surplus engine power. At this time, the engine speed can be reduced to reduce the engine output power to match the pumping load and improve the fuel economy of the engine.

[0073] If the set engine speed at the current moment has not reached the lower limit value of the engine speed limit range, it indicates that there is still room for the engine speed to drop. Then, an engine speed adjustment value can be subtracted from the set engine speed at the current moment, and the engine speed value after subtracting the adjustment value is used as the set engine speed of the pumping vehicle at the next moment.

[0074] Here, because when the actual engine speed meets the second preset adjustment condition, it necessarily does not meet the first preset adjustment condition. That is to say, at each moment before the current moment in the current working cycle, the set engine speed has not been adjusted according to the first preset adjustment condition.

[0075] For example, the set engine speed at the current moment is 1500 revolutions per minute, which has not reached the lower limit value of the engine speed limit range [1000 revolutions per minute, 1800 revolutions per minute]. The actual engine speeds collected at each moment during the current working cycle are all within [1450 revolutions per minute, 1460 revolutions per minute]. Then the engine speed differences at each moment are between [40 revolutions per minute, 50 revolutions per minute], all less than the second speed difference of 60 revolutions per minute, meeting the second preset adjustment condition. At this time, the engine speed adjustment value is 20 revolutions per minute. Subtract an engine speed adjustment value from the set engine speed at the current moment, and use 1480 revolutions per minute as the set engine speed of the pumping vehicle at the next moment.

[0076] If the set engine speed at the current moment has reached the lower limit value of the engine speed limit range, it indicates that there is no room for the engine speed to decrease. The lower limit value of the engine speed limit range can be used as the set engine speed of the pumping vehicle at the next moment.

[0077] For example, the set engine speed at the current moment is 1000 revolutions per minute, which has reached the lower limit value of the engine speed limit range [1000 revolutions per minute, 1800 revolutions per minute]. The actual engine speeds collected at each moment are all within [1040 revolutions per minute, 1050 revolutions per minute]. Then the engine speed differences at each moment are between [40 revolutions per minute, 50 revolutions per minute], all less than the second speed difference of 60 revolutions per minute, meeting the second preset adjustment condition. At this time, in order to improve the fuel economy of the engine, etc., the set engine speed is not further decreased.

[0078] The pumping control method provided by the embodiments of the present invention improves the fuel economy of the engine when the pumping load is small by setting the second preset adjustment condition, achieving energy conservation.

[0079] Based on any of the above embodiments, the engine speed adjustment value is determined based on the difference between the actual engine speed and the set engine speed at the current moment.

[0080] Specifically, the engine speed adjustment value can be adjusted according to the difference between the actual engine speed and the set engine speed at the current moment. For example, if the difference between the actual engine speed and the set engine speed at the current moment is large, then correspondingly, the engine speed adjustment value can be set large. If the difference between the actual engine speed and the set engine speed at the current moment is small, then correspondingly, the engine speed adjustment value can be set small. Another example is that if the difference between the actual engine speed and the set engine speed at the current moment fluctuates within a very small range, at this time, the engine speed adjustment value can be set to a fixed value to avoid large fluctuations in speed during adjustment.

[0081] Based on any of the above embodiments, step 130 includes:

[0082] Determine the main oil pump proportional valve current of the pumping vehicle at the next moment based on the engine set speed of the pumping vehicle at the next moment and the set pumping flow rate of the pumping vehicle at the next moment.

[0083] Control the pumping vehicle based on the engine set speed and the main oil pump proportional valve current of the pumping vehicle at the next moment.

[0084] Specifically, the set pumping flow rate of the pumping vehicle is equal to the product of the engine set speed and the main oil pump displacement. There is a corresponding relationship between the main oil pump displacement and the main oil pump proportional valve current. Therefore, based on the engine set speed of the pumping vehicle and the set pumping flow rate of the pumping vehicle, the displacement of the main oil pump in the pumping vehicle can be obtained, and then the main oil pump proportional valve current of the pumping vehicle can be solved.

[0085] Based on the engine set speed and the main oil pump proportional valve current of the pumping vehicle at the next moment, the parameters of the engine and the main oil pump in the pumping vehicle can be set, so as to realize the control of the pumping vehicle.

[0086] At the current moment, based on the initial value I0 of the main oil pump proportional valve current of the pumping vehicle, the initial value q0 of the displacement of the main oil pump of the pumping vehicle can be solved, which is expressed by the formula:

[0087]

[0088] where I min is the minimum value of the main oil pump proportional valve current of the pumping vehicle, I max is the maximum value of the main oil pump proportional valve current of the pumping vehicle, q max is the maximum displacement of the main oil pump of the pumping vehicle, q min is the minimum displacement of the main oil pump of the pumping vehicle.

[0089] Furthermore, the initial value Q0 of the pumping flow rate of the pumping vehicle is obtained, which is expressed by the formula:

[0090] Q0 = q0 × n0

[0091] where n0 is the initial value of the engine set speed of the pumping vehicle.

[0092] At the next moment, there is the following relationship among the engine set speed n1, the set pumping flow rate Q1, and the displacement q1 of the main oil pump of the pumping vehicle:

[0093] Q1 = q1 × n1

[0094] Since the stability of the pumping flow rate needs to be maintained during the pumping process, that is, there is the following relationship:

[0095] Q1 = Q0

[0096] Then the displacement q1 of the main oil pump of the pumping vehicle at the next moment can be expressed as:

[0097]

[0098] Furthermore, by solving, the current of the proportional valve of the main oil pump of the pumping vehicle at the next moment, I1, is obtained, and is expressed by the formula as:

[0099]

[0100] Based on any of the above embodiments, after step 110, it includes:

[0101] If the actual engine speed does not meet the first preset adjustment condition and does not meet the second preset adjustment condition, then the set engine speed at the current moment is used as the set engine speed of the pumping vehicle at the next moment.

[0102] Specifically, if the engine speed difference does not meet the two preset adjustment conditions at the same time, it indicates that the engine speed difference is within the fluctuation range of the engine speed during normal operation of the engine, and it can be considered that the output power of the engine matches the pumping load. At this time, the set engine speed is not adjusted, that is, the set engine speed at the current moment is used as the set engine speed of the pumping vehicle at the next moment.

[0103] Based on any of the above embodiments, Figure 2 This is the second flow chart of the pumping control method provided by the present invention. As Figure 2 shown, the method includes:

[0104] First, after pumping starts, an initial speed and an initial current are set according to the initial displacement. After one round of pumping, the engine speed difference is calculated in real time, and the calculation method is as follows:

[0105] Engine speed difference = Set engine speed - Actual engine speed

[0106] If the speed difference is greater than the first speed difference, it is considered that the engine is decelerating. When the engine speed does not reach the maximum value, at this time, the set value of the engine speed is increased by adding a fixed value on the basis of the original set value. At the same time, in order to keep the flow rate unchanged during pumping, the current value of the electro-hydraulic proportional valve of the main oil pump is reduced, and the swash plate opening of the oil pump is reduced; when the engine speed reaches the maximum value, the engine speed is no longer increased, and the load is reduced by reducing the current value of the electro-hydraulic proportional valve of the main oil pump until the speed difference is less than the first speed difference.

[0107] If the rotational speed difference is always less than the second rotational speed difference within a commutation period, it is considered that the load is stable and the engine power is surplus. When the engine speed has not reached the minimum value, at this time, the engine speed set value is decreased by subtracting a fixed value from the original set value. At the same time, in order to keep the flow rate unchanged during the pumping process, the current value of the main oil pump electro-hydraulic proportional valve is increased to increase the swash plate opening of the oil pump. No adjustment is made when the rotational speed difference is greater than the second rotational speed difference; when the engine speed reaches the minimum value, the engine speed is no longer decreased, and the set speed is the minimum value at this time.

[0108] The minimum value and the maximum value are the minimum and maximum values of the engine operating speed set during the pumping process, and this speed range matches the operating speed of the main oil pump.

[0109] The first rotational speed difference is greater than the second rotational speed difference, and the first rotational speed difference and the second rotational speed difference change according to the current rotational speed, that is, the allowable speed drop intervals are different at different rotational speeds.

[0110] Based on any of the above embodiments, Figure 3 is one of the structural schematic diagrams of the pumping control device provided by the present invention, as Figure 3 shown, the device includes:

[0111] An acquisition unit 310, configured to acquire the actual engine speed of the pumping vehicle at the current moment;

[0112] A determination unit 320, configured to, if the actual engine speed meets a preset adjustment condition, determine the engine set speed of the pumping vehicle at the next moment based on the engine set speed at the current moment and the engine speed limit range of the pumping vehicle;

[0113] A control unit 330, configured to control the pumping vehicle based on the engine set speed of the pumping vehicle at the next moment; wherein, the preset adjustment condition includes a first preset adjustment condition; the first preset adjustment condition is that the difference between the actual engine speed and the engine set speed is greater than the first rotational speed difference.

[0114] The pumping control device provided by the embodiments of the present invention acquires the actual engine speed of the pumping vehicle at the current moment; if the actual engine speed meets the preset adjustment condition, it determines the engine set speed of the pumping vehicle at the next moment according to the engine set speed at the current moment and the engine speed limit range of the pumping vehicle; and then controls the pumping vehicle. By using the method of rotational speed feedback and control, it can more clearly and intuitively reflect the working condition of the engine, effectively avoid the situation that the engine of the pumping vehicle drops speed or even stalls, and improve the stability of the output of the pumping vehicle.

[0115] Based on any of the above embodiments, the actual engine speed at the current moment is less than the engine set speed at the current moment.

[0116] Based on any of the above embodiments, the preset adjustment condition further includes a second preset adjustment condition;

[0117] The second preset adjustment condition is that if the current moment is the last moment of the current working cycle, the actual engine speeds at all moments within the current working cycle do not satisfy the first preset adjustment condition, and the difference between the actual engine speeds at all moments within the current working cycle and the set engine speed is less than the second speed difference.

[0118] Based on any of the above embodiments, the first speed difference or the second speed difference is determined based on the actual engine speed of the pumping vehicle.

[0119] Based on any of the above embodiments, the determination unit 320 includes:

[0120] A first determination unit, configured to, when the actual engine speed satisfies the first preset adjustment condition, if the set engine speed at the current moment has not reached the upper limit value of the engine speed limit range, determine the set engine speed of the pumping vehicle at the next moment based on the set engine speed at the current moment and the engine speed adjustment value.

[0121] Based on any of the above embodiments, the determination unit 320 includes:

[0122] A second determination unit, configured to, when the actual engine speed satisfies the second preset adjustment condition, if the set engine speed at the current moment has not reached the lower limit value of the engine speed limit range, determine the set engine speed of the pumping vehicle at the next moment based on the set engine speed at the current moment and the engine speed adjustment value.

[0123] Based on any of the above embodiments, the engine speed adjustment value is determined based on the difference between the actual engine speed and the set engine speed at the current moment.

[0124] Based on any of the above embodiments, the control unit 330 includes:

[0125] A current determination sub-unit, configured to determine the main oil pump proportional valve current of the pumping vehicle at the next moment based on the set engine speed of the pumping vehicle at the next moment and the set pumping flow rate of the pumping vehicle at the next moment;

[0126] A control sub-unit, configured to control the pumping vehicle based on the set engine speed and the main oil pump proportional valve current of the pumping vehicle at the next moment.

[0127] Based on any of the above embodiments, the device further includes:

[0128] A holding unit, configured to use the engine set speed at the current moment as the engine set speed of the pumping vehicle at the next moment if the actual engine speed does not meet the first preset adjustment condition and does not meet the second preset adjustment condition.

[0129] Based on any of the above embodiments, Figure 4 This is the second structural schematic diagram of the pumping control device provided by the present invention. As Figure 4 shown, the pumping control device includes a processor 410, a communications interface 420, a memory 430, and a communications bus 440. Among them, the processor 410, the communications interface 420, and the memory 430 communicate with each other through the communications bus 440. The processor 410 can call the logical commands in the memory 430 to execute the following method:

[0130] Obtain the actual engine speed of the pumping vehicle at the current moment; if the actual engine speed meets the preset adjustment condition, determine the engine set speed of the pumping vehicle at the next moment based on the engine set speed at the current moment and the engine speed limit range of the pumping vehicle; control the pumping vehicle based on the engine set speed of the pumping vehicle at the next moment; where the preset adjustment condition includes a first preset adjustment condition; the first preset adjustment condition is that the difference between the actual engine speed and the engine set speed is greater than the first speed difference.

[0131] In addition, when the logical commands in the above-mentioned memory 430 can be implemented in the form of software function units and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several commands to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical disks, and other various media that can store program codes.

[0132] The processor in the pumping control device provided by the embodiments of the present invention can call the logical instructions in the memory to implement the above method. Its specific implementation manner is the same as that of the foregoing method embodiment, and the same beneficial effects can be achieved, which will not be elaborated here.

[0133] Based on any of the above embodiments, Figure 5 The following is a schematic structural diagram of the pumping control system provided by the present invention. As Figure 5 shown, the system includes a pumping control device 520 and a rotational speed sensor 510. The rotational speed sensor 510 is electrically connected to the pumping control device 520 and is used to detect the actual rotational speed of the engine.

[0134] Specifically, the rotational speed sensor 510 can be a laser rotational speed sensor, a magnetoelectric rotational speed sensor, a capacitive rotational speed sensor, or a magnetoresistive inductive rotational speed sensor.

[0135] Based on any of the above embodiments, an embodiment of the present invention provides a pumping vehicle, including the above-mentioned pumping control system.

[0136] Specifically, the pumping vehicle provided by the embodiment of the present invention can be a concrete pump truck, a truck-mounted pump, a fire truck, etc. The actual rotational speed of the engine can be detected by the rotational speed sensor in the pumping control system loaded on the vehicle and sent to the pumping control device. By using the method of rotational speed feedback and control by the pumping control device, the working condition of the engine can be more clearly and intuitively reflected, effectively avoiding the situation of engine speed drop or even flameout, and improving the stability of the output of the pumping vehicle.

[0137] Based on any of the above embodiments, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is used to execute the methods provided by the above embodiments, for example, including:

[0138] Obtain the actual rotational speed of the engine of the pumping vehicle at the current moment; if the actual rotational speed of the engine meets a preset adjustment condition, then based on the set rotational speed of the engine at the current moment and the engine rotational speed limit range of the pumping vehicle, determine the set rotational speed of the engine of the pumping vehicle at the next moment; control the pumping vehicle based on the set rotational speed of the engine of the pumping vehicle at the next moment; where the preset adjustment condition includes a first preset adjustment condition; the first preset adjustment condition is that the difference between the actual rotational speed of the engine and the set rotational speed of the engine is greater than a first rotational speed difference.

[0139] When the computer program stored on the non-transitory computer-readable storage medium provided by the embodiment of the present invention is executed, the above method is implemented. Its specific implementation manner is consistent with the foregoing method implementation manner and can achieve the same beneficial effects, which will not be elaborated here.

[0140] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0141] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pumping control method, characterized in that, Including: Obtain the actual engine speed of the pumping vehicle at the current moment; If the actual engine speed satisfies a preset adjustment condition, then based on the set engine speed at the current moment and the engine speed limit range of the pumping vehicle, determine the set engine speed of the pumping vehicle at the next moment; Control the pumping vehicle based on the set engine speed of the pumping vehicle at the next moment; Wherein, the preset adjustment condition includes a first preset adjustment condition; the first preset adjustment condition is that the difference between the actual engine speed and the set engine speed is greater than a first speed difference; if the actual engine speed satisfies the first preset adjustment condition, then based on the set engine speed at the current moment and the engine speed limit range of the pumping vehicle, determine the increased set engine speed of the pumping vehicle at the next moment; The preset adjustment condition further includes a second preset adjustment condition; the second preset adjustment condition is that if the current moment is the last moment of the current working cycle, the actual engine speeds at all moments within the current working cycle do not satisfy the first preset adjustment condition, and the differences between the actual engine speeds and the set engine speeds at all moments within the current working cycle are all less than a second speed difference; if the actual engine speed satisfies the second preset adjustment condition, then based on the set engine speed at the current moment and the engine speed limit range of the pumping vehicle, determine the decreased set engine speed of the pumping vehicle at the next moment.

2. The pumping control method according to claim 1, characterized in that, The actual engine speed at the current moment is less than the set engine speed at the current moment.

3. The pumping control method according to any one of claims 1 to 2, characterized in that, The first speed difference or the second speed difference is determined based on the actual engine speed of the pumping vehicle.

4. The pumping control method according to claim 1, wherein, The step of if the actual engine speed satisfies the preset adjustment condition, then based on the set engine speed at the current moment and the engine speed limit range of the pumping vehicle, determine the set engine speed of the pumping vehicle at the next moment, includes: When the actual engine speed satisfies the first preset adjustment condition, if the set engine speed at the current moment has not reached the upper limit value of the engine speed limit range, then based on the set engine speed at the current moment and the engine speed adjustment value, determine the set engine speed of the pumping vehicle at the next moment.

5. The pumping control method according to claim 1, wherein The step of if the actual engine speed satisfies the preset adjustment condition, then based on the set engine speed at the current moment and the engine speed limit range of the pumping vehicle, determine the set engine speed of the pumping vehicle at the next moment, includes: When the actual engine speed satisfies the second preset adjustment condition, if the set engine speed at the current moment has not reached the lower limit value of the engine speed limit range, then based on the set engine speed at the current moment and the engine speed adjustment value, determine the set engine speed of the pumping vehicle at the next moment.

6. The pumping control method according to claim 4, characterized in that, The engine speed adjustment value is determined based on the difference between the actual engine speed and the set engine speed at the current moment.

7. The pumping control method according to claim 1, wherein Controlling the pumping vehicle based on the engine set speed of the pumping vehicle at the next moment includes: Determining the main oil pump proportional valve current of the pumping vehicle at the next moment based on the engine set speed of the pumping vehicle at the next moment and the set pumping flow rate of the pumping vehicle at the next moment; Controlling the pumping vehicle based on the engine set speed and the main oil pump proportional valve current of the pumping vehicle at the next moment.

8. The pumping control method according to claim 1, wherein, After obtaining the actual engine speed of the pumping vehicle at the current moment, it includes: If the actual engine speed does not meet the first preset adjustment condition and does not meet the second preset adjustment condition, then taking the engine set speed at the current moment as the engine set speed of the pumping vehicle at the next moment.

9. A pumping control device, characterized in that, It includes: An acquisition unit for acquiring the actual engine speed of the pumping vehicle at the current moment; A determination unit for, if the actual engine speed meets the preset adjustment condition, determining the engine set speed of the pumping vehicle at the next moment based on the engine set speed at the current moment and the engine speed limit range of the pumping vehicle; A control unit for controlling the pumping vehicle based on the engine set speed of the pumping vehicle at the next moment; Wherein, the preset adjustment condition includes a first preset adjustment condition; the first preset adjustment condition is that the difference between the actual engine speed and the engine set speed is greater than the first speed difference; if the actual engine speed meets the first preset adjustment condition, then determining the increased engine set speed of the pumping vehicle at the next moment based on the engine set speed at the current moment and the engine speed limit range of the pumping vehicle; The preset adjustment condition further includes a second preset adjustment condition; the second preset adjustment condition is that if the current moment is the last moment of the current working cycle, the actual engine speeds at all moments within the current working cycle do not meet the first preset adjustment condition, and the difference between the actual engine speed and the engine set speed at all moments within the current working cycle is less than the second speed difference; if the actual engine speed meets the second preset adjustment condition, then determining the decreased engine set speed of the pumping vehicle at the next moment based on the engine set speed at the current moment and the engine speed limit range of the pumping vehicle.

10. A pumping control device, characterized in that, It includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, it implements the steps of the pumping control method according to any one of claims 1 to 8.

11. A pumping control system, characterized in that, It includes the pumping control device according to claim 9 or 10; A speed sensor, electrically connected to the pumping control device, for detecting the actual engine speed.

12. A pumping vehicle, characterized in that, It includes the pumping control system according to claim 11, or includes the pumping control device according to claim 9 or 10.

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